#include <ros/ros.h>
#include "turtlesim/Pose.h"

void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
    // 将接受到的消息打印出来
    ROS_INFO("Turtle pose: x:%0.6f,y:%0.6f",msg->x,msg->y);
}

int main(int argc, char **argv)
{
    // 初始化ROS节点
    ros::init(argc,argv,"pose_subscriber");

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个Subsciber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback
    ros::Subscriber pose_sub = n.subscribe("/turtle1/pose",10,poseCallback);

    // 循环等待回调函数
    ros::spin();

    return 0;
}
